Optical scanning device and method of driving micromirror device

ABSTRACT

In a micromirror device, in a case where a resonance frequency around a first axis is denoted by f1 and a resonance frequency around a second axis is denoted by f2, a relationship of f1&lt;f2 is satisfied, and in a case where a mirror portion is driven around the first axis and the second axis simultaneously, the resonance frequency around the first axis changes by Δf from f1. A first driving signal and a second driving signal each having a driving frequency fd satisfying a relationship of f1−Δf&lt;fd are provided to a first actuator and a second actuator, respectively, to cause the mirror portion to perform precession.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation application of InternationalApplication No. PCT/JP2021/025840, filed Jul. 8, 2021, the disclosure ofwhich is incorporated herein by reference in its entirety. Further, thisapplication claims priority from Japanese Patent Application No.2020-122263 filed on Jul. 16, 2020, the disclosure of which isincorporated herein by reference in its entirety.

BACKGROUND 1. Technical Field

The technique of the present disclosure relates to an optical scanningdevice and a method of driving a micromirror device.

2. Description of the Related Art

A micromirror device (also referred to as a microscanner) is known asone of micro electro mechanical systems (MEMS) devices manufacturedusing the silicon (Si) microfabrication technique. The micromirrordevice is driven by a driving controller provided in an optical scanningdevice. By driving a mirror portion of the micromirror device, thedriving controller two-dimensionally scans an object with a light beamreflected by the mirror portion.

An optical scanning method using the micromirror device is superior toan optical scanning method using a polygon mirror in the related art interms of small size, light weight, and low power consumption. Therefore,application of the micromirror device to a light detection and ranging(LiDAR) device, a scanning beam display, and the like is attractingattention.

Examples of a drive method of the micromirror device include anelectrostatic drive method, an electromagnetic drive method, and apiezoelectric drive method. In the piezoelectric drive method, thedevice has a small size and has a large scan angle because a devicestructure and a drive circuit are simple while torque is large. Themicromirror device resonates at a natural vibration frequency determinedby a mass, structure, and spring constant. By driving the micromirrordevice at the resonance frequency, a larger scan angle is obtained. Thescan angle corresponds to a deflection angle of the mirror portion.

WO2018/230065A proposes a piezoelectric biaxial drive type micromirrordevice that enables precession of a mirror portion. The precession is amotion in which a central axis orthogonal to a reflecting surface of themirror portion is deflected such that a circle is drawn. In order tocause the mirror portion to perform precession, it is necessary to allowthe mirror portion to swing around each of a first axis and a secondaxis orthogonal to each other at the same frequency. Therefore,WO2018/230065A proposes matching a resonance frequency around the firstaxis (hereinafter, referred to as a first resonance frequency) with aresonance frequency around the second axis (hereinafter, referred to asa second resonance frequency).

By the precession of the mirror portion, an object to be scanned isscanned with a light beam reflected by the mirror portion such that acircle is drawn. The circular light beam is used, for example, in theLiDAR device.

JP2019-144497A discloses that crosstalk occurs between a first actuatorthat resonantly driving a mirror portion around a first axis and asecond actuator that resonantly driving the mirror portion around asecond axis in a piezoelectric biaxial drive type micromirror device.This crosstalk is caused by the fact that propagation of vibrationgenerated in one actuator to the other actuator excites resonancevibration.

SUMMARY

As disclosed in WO2018/230065A, by matching the first resonancefrequency with the second resonance frequency and matching frequenciesof driving signals provided to first and second actuators with the firstresonance frequency and the second resonance frequency, responsivenessof an operation of the mirror portion to the driving signals isimproved. However, in a case where the first resonance frequency ismatched with the second resonance frequency, it is considered that thereis an adverse effect that the crosstalk disclosed in JP2019-144497Aincreases.

The present applicant has confirmed that crosstalk is likely to occur ina micromirror device in which the first actuator allows the mirrorportion to swing around the first axis and the second actuator allowsthe first actuator to swing around the second axis together with themirror portion. In a case where the first resonance frequency is matchedwith the second resonance frequency, an influence of the crosstalk isgreatly exerted, particularly in a case where the deflection angle ofthe mirror portion is small, that is, in a case where the driving signalis small.

In order to cause the mirror portion to perform precession, it isnecessary to accurately match a deflection angle around the first axiswith a deflection angle around the second axis. However, in a case wherethe above-mentioned crosstalk occurs, it is difficult to set the drivingsignal, and the precession of the mirror portion is disturbed.

An object of the technique of the present disclosure is to provide anoptical scanning device which can reduce crosstalk and improve anaccuracy of precession of a mirror portion, and a method of driving amicromirror device.

In order to achieve the above-described object, an optical scanningdevice of the present disclosure comprises: a micromirror deviceincluding a mirror portion that has a reflecting surface for reflectingincident light, a first support portion that swingably supports themirror portion around a first axis located in a plane including thereflecting surface in a case where the mirror portion is stationary, afirst actuator that is connected to the mirror portion via the firstsupport portion and allows the mirror portion to swing around the firstaxis, a second support portion that swingably supports the mirrorportion around a second axis orthogonal to the first axis in the plane,and a second actuator that is connected to the first actuator via thesecond support portion and allows the mirror portion to swing around thesecond axis; and a processor that causes the mirror portion to performprecession by providing a first driving signal and a second drivingsignal each having the same driving frequency to the first actuator andthe second actuator, respectively. In the micromirror device, in a casewhere a resonance frequency around the first axis is denoted by f₁ and aresonance frequency around the second axis is denoted by f₂, arelationship of f₁<f₂ is satisfied, in a case where the mirror portionis driven around the first axis and the second axis simultaneously, theresonance frequency around the first axis changes by Δf from f₁, and ina case where the driving frequency is denoted by f_(d), a relationshipof f₁−Δf<f_(d) is satisfied.

It is preferable that a relationship of f₁−Δf<f_(d)<f₂ is satisfied.

It is preferable that a relationship of Δf>0 is satisfied.

It is preferable that a relationship of f₁−Δf<f₂<1.008(f₁−Δf) issatisfied.

It is preferable that the first actuator and the second actuator arepiezoelectric actuators each including a piezoelectric element.

It is preferable that each of the first support portion and the secondsupport portion is a torsion bar.

It is preferable that the optical scanning device further comprises alight source that emits a light beam perpendicularly to the reflectingsurface in a case where the mirror portion is stationary.

A method of driving a micromirror device of the present disclosure is amethod of driving a micromirror device including a mirror portion thathas a reflecting surface for reflecting incident light, a first supportportion that swingably supports the mirror portion around a first axislocated in a plane including the reflecting surface in a case where themirror portion is stationary, a first actuator that is connected to themirror portion via the first support portion and allows the mirrorportion to swing around the first axis, a second support portion thatswingably supports the mirror portion around a second axis orthogonal tothe first axis in the plane, and a second actuator that is connected tothe first actuator via the second support portion and allows the mirrorportion to swing around the second axis. In the micromirror device, in acase where a resonance frequency around the first axis is denoted by f₁and a resonance frequency around the second axis is denoted by f₂, arelationship of f₁<f₂ is satisfied, in a case where the mirror portionis driven around the first axis and the second axis simultaneously, theresonance frequency around the first axis changes by Δf from f₁, and afirst driving signal and a second driving signal each having a drivingfrequency f_(d) satisfying a relationship of f₁−Δf<f_(d) are provided tothe first actuator and the second actuator, respectively, to cause themirror portion to perform precession.

According to the technique of the present disclosure, it is possible toprovide an optical scanning device which can reduce crosstalk andimprove an accuracy of precession of a mirror portion, and a method ofdriving a micromirror device.

BRIEF DESCRIPTION OF THE DRAWINGS

Exemplary embodiments according to the technique of the presentdisclosure will be described in detail based on the following figures,wherein:

FIG. 1 is a schematic view of an optical scanning device,

FIG. 2 is a block diagram showing an example of a hardware configurationof a driving controller,

FIG. 3 is an external perspective view of a micromirror device,

FIG. 4 is a plan view of the micromirror device as viewed from a lightincident side,

FIG. 5 is a cross-sectional view taken along the line A-A of FIG. 4 ,

FIG. 6 is a cross-sectional view taken along the line B-B of FIG. 4 ,

FIG. 7 is a diagram showing an example in which a first actuator isdriven in an anti-phase resonance mode,

FIG. 8 is a diagram showing an example in which a second actuator isdriven in an anti-phase resonance mode,

FIG. 9 is a diagram showing an example of a driving signal provided tothe first actuator and the second actuator,

FIG. 10 is a diagram illustrating a time change of a maximum deflectionangle,

FIG. 11 is a diagram illustrating precession of a mirror portion,

FIG. 12 is a diagram schematically showing a relationship between adeflection angle and a driving frequency,

FIG. 13 is a diagram showing a measurement result of a change in a shiftamount with respect to a maximum deflection angle,

FIG. 14 is a diagram illustrating a relationship between a firstdeflection angle and a second maximum deflection angle and an amplitudevoltage,

FIG. 15 is a diagram showing a measurement result of a maximumdeflection angle in a case where a driving frequency f_(d) is set in arange of f_(d)<f₁−Δf,

FIG. 16 is a diagram showing a measurement result of a maximumdeflection angle in a case where the driving frequency f_(d) is set in arange of f₁−Δf<f_(d)<f₁,

FIG. 17 is a diagram showing a measurement result of a maximumdeflection angle in a case where the driving frequency f_(d) is set in arange of f₁<f_(d)<f₂,

FIG. 18 is a diagram showing a measurement result of a maximumdeflection angle in a case where the driving frequency f_(d) is set in arange of f₂<f_(d), and

FIG. 19 is a diagram showing a measurement result of a relationshipbetween a maximum deflection angle and a driving frequency.

DETAILED DESCRIPTION

An example of an embodiment relating to the technology of the presentdisclosure will be described with reference to the accompanyingdrawings.

FIG. 1 schematically shows an optical scanning device 10 according to anembodiment. The optical scanning device 10 includes a micromirror device(hereinafter, referred to as micromirror device (MMD)) 2, a light source3, and a driving controller 4. The optical scanning device 10 opticallyscans a surface to be scanned 5 by reflecting a light beam L emittedfrom the light source 3 by the MMD 2 under the control of the drivingcontroller 4. The surface to be scanned 5 is, for example, a screen.

The MMD 2 is a piezoelectric biaxial drive type micromirror devicecapable of allowing a mirror portion 20 (see FIG. 3 ) to swing around afirst axis a₁ and a second axis a₂ orthogonal to the first axis a₁.Hereinafter, the direction parallel to the first axis a₁ is referred toas an X direction, the direction parallel to the second axis a₂ is a Ydirection, and the direction orthogonal to the first axis a₁ and thesecond axis a₂ is referred to as a Z direction.

The light source 3 is a laser device that emits, for example, laserlight as the light beam L. It is preferable that the light source 3emits the light beam L perpendicularly to a reflecting surface 20A (seeFIG. 3 ) included in the mirror portion 20 in a state where the mirrorportion 20 of the MMD 2 is stationary.

The driving controller 4 outputs a driving signal to the light source 3and the MMD 2 based on optical scanning information. The light source 3generates the light beam L based on the input driving signal and emitsthe light beam L to the MMD 2. The MMD 2 allows the mirror portion 20 toswing around the first axis a₁ and the second axis a₂ based on the inputdriving signal.

As will be described in detail below, the driving controller 4 causesthe mirror portion 20 to perform precession. By the precession of themirror portion 20, the surface to be scanned 5 is scanned with the lightbeam L reflected by the mirror portion 20 such that a circle is drawn onthe surface to be scanned 5. The circular light beam L is used, forexample, in the LiDAR device.

FIG. 2 shows an example of a hardware configuration of the drivingcontroller 4. The driving controller 4 has a central processing unit(CPU) 40, a read only memory (ROM) 41, a random access memory (RAM) 42,a light source driver 43, and an MMD driver 44. The CPU 40 is anarithmetic unit that realizes the entire function of the drivingcontroller 4 by reading out a program and data from a storage devicesuch as the ROM 41 into the RAM 42 and executing processing. The CPU 40is an example of a “processor” according to the technology of thepresent disclosure.

The ROM 41 is a non-volatile storage device and stores a program for theCPU 40 to execute processing and data such as the optical scanninginformation described above. The RAM 42 is a non-volatile storage devicethat temporarily holds a program and data.

The light source driver 43 is an electric circuit that outputs a drivingsignal to the light source 3 under the control of the CPU 40. In thelight source driver 43, the driving signal is a driving voltage forcontrolling the irradiation timing and the irradiation intensity of thelight source 3.

The MMD driver 44 is an electric circuit that outputs a driving signalto the MMD 2 under the control of the CPU 40. In the MMD driver 44, thedriving signal is a driving voltage for controlling the timing, cycle,and deflection angle for allowing the mirror portion 20 of the MMD 2 toswing.

The CPU 40 controls the light source driver 43 and the MMD driver 44based on the optical scanning information. The optical scanninginformation is information for indicating how the surface to be scanned5 is scanned with the light beam L. In the present embodiment, theoptical scanning information is information for indicating that thesurface to be scanned 5 is scanned with the light beam L such that acircle is drawn on the surface to be scanned 5. For example, in a casewhere the optical scanning device 10 is incorporated in the LiDARdevice, the optical scanning information includes a time at which thelight beam L for distance measurement is emitted, an irradiation range,and the like.

Next, an example of the MMD 2 will be described with reference to FIGS.3 to 6 . FIG. 3 is an external perspective view of the MMD 2. FIG. 4 isa plan view of the MMD 2 as viewed from the light incident side. FIG. 5is a cross-sectional view taken along the line A-A in FIG. 4 . FIG. 6 isa cross-sectional view taken along the line B-B in FIG. 4 .

As shown in FIGS. 3 and 4 , the MMD 2 has a mirror portion 20, a firstactuator 21, a second actuator 22, a support frame 23, a first supportportion 24, a second support portion 25, and a fixed portion 26. The MMD2 is a so-called MEMS device.

The mirror portion 20 has a reflecting surface 20A for reflectingincident light. The reflecting surface 20A is formed of a metal thinfilm such as gold (Au) and aluminum (Al) provided on one surface of themirror portion 20. The reflecting surface 20A is, for example, circular.

The first actuator 21 is disposed to surround the mirror portion 20. Thesupport frame 23 is disposed to surround the mirror portion 20 and thefirst actuator 21. The second actuator 22 is disposed to surround themirror portion 20, the first actuator 21, and the support frame 23. Thesupport frame 23 is not an essential component of the technology of thepresent disclosure.

The first support portion 24 connects the mirror portion 20 and thefirst actuator 21 on the first axis a₁, and swingably supports themirror portion 20 around the first axis a₁. The first axis a₁ is locatedin a plane including the reflecting surface 20A in a case where themirror portion 20 is stationary. For example, the first support portion24 is a torsion bar stretched along the first axis a₁. In addition, thefirst support portion 24 is connected to the support frame 23 on thefirst axis a₁.

The second support portion 25 connects the first actuator 21 and thesecond actuator 22 on the second axis a₂, and swingably supports themirror portion 20 and the first actuator 21 around the second axisa_(z). The second axis a_(z) is orthogonal to the first axis a₁ in theplane including the reflecting surface 20A in a case where the mirrorportion 20 is stationary. The second support portion 25 is connected tothe support frame 23 and the fixed portion 26 on the second axis a₂.

The fixed portion 26 is connected to the second actuator 22 by thesecond support portion 25. The fixed portion 26 has a rectangular outershape and surrounds the second actuator 22. Lengths of the fixed portion26 in the X direction and the Y direction are, for example, about 1 mmto 10 mm, respectively. A thickness of the fixed portion 26 in the Zdirection is, for example, about 5 μm to 0.2 mm.

The first actuator 21 and the second actuator 22 are piezoelectricactuators each comprising a piezoelectric element. The first actuator 21applies rotational torque around the first axis a₁ to the mirror portion20. The second actuator 22 applies rotational torque around the secondaxis a₂ to the mirror portion 20 and the first actuator 21. Thereby, themirror portion 20 swings around the first axis a₁ and the second axisa₂.

The first actuator 21 is an annular thin plate member that surrounds themirror portion 20 in an XY plane. The first actuator 21 is composed of apair of a first movable portion 21A and a second movable portion 21B.Each of the first movable portion 21A and the second movable portion 21Bis semi-annular. The first movable portion 21A and the second movableportion 21B have a shape that is line-symmetrical with respect to thefirst axis a₁, and are connected on the first axis a₁.

The support frame 23 is an annular thin plate member that surrounds themirror portion 20 and the first actuator 21 in the XY plane.

The second actuator 22 is an annular thin plate member that surroundsthe mirror portion 20, the first actuator 21, and the support frame 23in the XY plane. The second actuator 22 is composed of a pair of a firstmovable portion 22A and a second movable portion 22B. Each of the firstmovable portion 22A and the second movable portion 22B is semi-annular.The first movable portion 22A and the second movable portion 22B have ashape that is line-symmetrical with respect to the second axis a₂, andare connected on the second axis a₂.

In the first actuator 21, the first movable portion 21A and the secondmovable portion 21B are provided with a piezoelectric element 27A and apiezoelectric element 27B, respectively. In addition, in the secondactuator 22, the first movable portion 22A and the second movableportion 22B are provided with a piezoelectric element 28A and apiezoelectric element 28B, respectively.

In FIGS. 3 and 4 , a wiring line and an electrode pad for providing thedriving signal to the piezoelectric elements 27A, 27B, 28A, and 28B arenot shown. A plurality of the electrode pads are provided on the fixedportion 26.

As shown in FIGS. 5 and 6 , the MMD 2 is formed, for example, byperforming an etching treatment on a silicon on insulator (SOI)substrate 30. The SOI substrate 30 is a substrate in which a siliconoxide layer 32 is provided on a first silicon active layer 31 made ofsingle crystal silicon, and a second silicon active layer 33 made ofsingle crystal silicon is provided on the silicon oxide layer 32.

The mirror portion 20, the first actuator 21, the second actuator 22,the support frame 23, the first support portion 24, and the secondsupport portion 25 are formed of the second silicon active layer 33remaining by removing the first silicon active layer 31 and the siliconoxide layer 32 from the SOI substrate 30 by an etching treatment. Thesecond silicon active layer 33 functions as an elastic portion havingelasticity. The fixed portion 26 is formed of three layers of the firstsilicon active layer 31, the silicon oxide layer 32, and the secondsilicon active layer 33.

The piezoelectric elements 27A, 27B, 28A, and 28B have a laminatedstructure in which a lower electrode 51, a piezoelectric film 52, and anupper electrode 53 are sequentially laminated on the second siliconactive layer 33. An insulating film is provided on the upper electrode53, but is not shown.

The upper electrode 53 and the lower electrode 51 are formed of, forexample, gold (Au) or platinum (Pt). The piezoelectric film 52 is formedof, for example, lead zirconate titanate (PZT), which is a piezoelectricmaterial. The upper electrode 53 and the lower electrode 51 areelectrically connected to the driving controller 4 described above viathe wiring line and the electrode pad.

A driving voltage is applied to the upper electrode 53 from the drivingcontroller 4. The lower electrode 51 is connected to the drivingcontroller 4 via the wiring line and the electrode pad, and a referencepotential (for example, a ground potential) is applied thereto.

In a case where a positive or negative voltage is applied to thepiezoelectric film 52 in the polarization direction, deformation (forexample, expansion and contraction) proportional to the applied voltageoccurs. That is, the piezoelectric film 52 exerts a so-called inversepiezoelectric effect. The piezoelectric film 52 exerts an inversepiezoelectric effect by applying a driving voltage from the drivingcontroller 4 to the upper electrode 53, and displaces the first actuator21 and the second actuator 22.

FIG. 7 shows a state in which the first actuator 21 is driven byextending one of the piezoelectric films 52 of the first movable portion21A and the second movable portion 21B and contracting the otherpiezoelectric film 52. In this way, the first movable portion 21A andthe second movable portion 21B are displaced in opposite directions toeach other, whereby the mirror portion 20 rotates around the first axisa₁.

FIG. 7 shows an example in which the first actuator 21 is driven in ananti-phase resonance mode in which the displacement direction of thefirst movable portion 21A and the second movable portion 21B and therotation direction of the mirror portion 20 are opposite to each other.In FIG. 7 , the first movable portion 21A is displaced in the −Zdirection and the second movable portion 21B is displaced in the +Zdirection, so that the mirror portion 20 rotates in the +Y direction.The first actuator 21 may be driven in an in-phase resonance mode inwhich the displacement direction of the first movable portion 21A andthe second movable portion 21B and the rotation direction of the mirrorportion 20 are the same direction.

An angle at which a normal line N of the reflecting surface 20A of themirror portion 20 is inclined in the YZ plane is called a firstdeflection angle θ₁. In a case where the normal line N of the reflectingsurface 20A is inclined in the +Y direction, the first deflection angleθ₁ takes a positive value, and in a case where it is inclined in the −Ydirection, the first deflection angle θ₁ takes a negative value.

The first deflection angle θ₁ is controlled by the driving signal(hereinafter, referred to as a first driving signal) provided to thefirst actuator 21 by the driving controller 4. The first driving signalis, for example, a sinusoidal AC voltage. The first driving signalincludes a driving voltage waveform V_(1A) (t) applied to the firstmovable portion 21A and a driving voltage waveform V_(1B) (t) applied tothe second movable portion 21B. The driving voltage waveform V_(1A) (t)and the driving voltage waveform V_(1B) (t) are in an anti-phase witheach other (that is, the phase difference is 180°).

FIG. 8 shows an example in which the second actuator 22 is driven in ananti-phase resonance mode in which the displacement direction of thefirst movable portion 22A and the second movable portion 22B and therotation direction of the mirror portion 20 are opposite to each other.In FIG. 8 , the first movable portion 22A is displaced in the −Zdirection and the second movable portion 22B is displaced in the +Zdirection, so that the mirror portion 20 rotates in the +X direction.The second actuator 22 may be driven in an in-phase resonance mode inwhich the displacement direction of the first movable portion 22A andthe second movable portion 22B and the rotation direction of the mirrorportion 20 are the same direction.

An angle at which the normal line N of the reflecting surface 20A of themirror portion 20 is inclined in the XZ plane is called a seconddeflection angle θ₂. In a case where the normal line N of the reflectingsurface 20A is inclined in the +X direction, the second deflection angleθ₂ takes a positive value, and in a case where it is inclined in the −Xdirection, the second deflection angle θ₂ takes a negative value.

The second deflection angle θ₂ is controlled by the driving signal(hereinafter, referred to as a second driving signal) provided to thesecond actuator 22 by the driving controller 4. The second drivingsignal is, for example, a sinusoidal AC voltage. The second drivingsignal includes a driving voltage waveform V_(2A) (t) applied to thefirst movable portion 22A and a driving voltage waveform V_(2B) (t)applied to the second movable portion 22B. The driving voltage waveformV_(2A) (t) and the driving voltage waveform V_(2B) (t) are in ananti-phase with each other (that is, the phase difference is 180°).

FIG. 9 shows an example of a driving signal provided to the firstactuator 21 and the second actuator 22. (A) of FIG. 9 shows the drivingvoltage waveforms V_(1A) (t) and V_(1B) (t) included in the firstdriving signal. (B) of FIG. 9 shows the driving voltage waveforms V_(2A)(t) and V_(2B) (t) included in the second driving signal.

The driving voltage waveforms V_(1A) (t) and V_(1B) (t) are representedas follows, respectively.

V _(1A)(t)=V _(off1) +V ₁ sin(2πf _(d) t)

V _(1B)(t)=V _(off1) +V ₁ sin(2πf _(d) t+α)

Here, V₁ is the amplitude voltage. V_(off1) is the bias voltage. f_(d)is the driving frequency. t is time. α is the phase difference betweenthe driving voltage waveforms V_(1A) (t) and V_(1B) (t). In the presentembodiment, for example, α=180°.

By applying the driving voltage waveforms V_(1A) (t) and V_(1B) (t) tothe first movable portion 21A and the second movable portion 21B, themirror portion 20 swings around the first axis a₁ (see FIG. 7 ).

The driving voltage waveforms V_(2A) (t) and V_(2B) (t) are representedas follows, respectively.

V _(2A)(t)=V _(off2) +V ₂ sin(2πf _(d) t+φ)

V _(2B)(t)=V _(off2) +V ₂ sin(2πf _(d) t+β+φ)

Here, V₂ is the amplitude voltage. V_(off2) is the bias voltage. f_(d)is the driving frequency. t is time. β is the phase difference betweenthe driving voltage waveforms V_(2A) (t) and V_(2B) (t). In the presentembodiment, for example, 0=180°. In addition, φ is the phase differencebetween the driving voltage waveforms V_(1A) (t) and V_(1B) (t) and thedriving voltage waveforms V_(2A) (t) and V_(2B) (t). In the presentembodiment, φ=90° is set in order to cause the mirror portion 20 toperform precession.

The bias voltages V_(off1) and V_(off2) are DC voltages for determininga state where the mirror portion 20 is stationary. In a state where themirror portion 20 is stationary, a plane including the reflectingsurface 20A may not be parallel to an upper surface of the fixed portion26 and may be inclined with respect to the upper surface of the fixedportion 26.

By applying the driving voltage waveforms V_(2A) (t) and V_(2B) (t) tothe first movable portion 22A and the second movable portion 22B, themirror portion 20 swings around the second axis a₂ (see FIG. 8 ).

As described above, the first driving signal and the second drivingsignal have the same driving frequency f_(d) and a phase difference of90°. In order to cause the mirror portion 20 to perform precession, asshown in FIG. 10 , it is necessary to set the amplitude voltages V₁ andV₂ appropriately such that the maximum deflection angle θ_(m1) of thefirst deflection angle θ₁ matches the maximum deflection angle θ_(m2) ofthe second deflection angle θ₂. This is because a relationship betweenthe amplitude voltage V₁ and the first deflection angle θ₁ and arelationship between the amplitude voltage V₂ and the second deflectionangle θ₂ are not the same. In the description of the presentspecification, the meaning of “match” includes not only the meaning ofperfect match but also the meaning of substantial match includingallowable errors in design and manufacturing.

Hereinafter, the maximum deflection angle θ_(m1) of the first deflectionangle θ₁ is referred to as a first maximum deflection angle θ_(m1). Themaximum deflection angle θ_(m2) of the second deflection angle θ₂ isreferred to as a second maximum deflection angle θ_(m2). Further, in acase where the first maximum deflection angle θ_(m1) and the secondmaximum deflection angle θ_(m2) are not distinguished, it is simplyreferred to as a maximum deflection angle θ_(m).

In order to cause the mirror portion 20 to perform precession with highaccuracy, it is necessary to appropriately set the driving frequencyf_(d). FIG. 11 shows the precession of the mirror portion 20. Theprecession is a motion in which the normal line N of the reflectingsurface 20A of the mirror portion 20 is deflected such that a circle isdrawn. By irradiating the mirror portion 20 performing the precessionwith the light beam L from the light source 3, the surface to be scanned5 can be scanned with the light beam L such that a circle is drawn onthe surface to be scanned 5.

FIG. 12 schematically shows a relationship between the deflection angleof the mirror portion 20 and the driving frequency f_(d). The mirrorportion 20 vibrates around the first axis a₁ and the second axis a₂ at anatural vibration frequency. The mirror portion 20 resonates in a casewhere the driving frequency f_(d) matches the natural vibrationfrequency.

In FIG. 12 , f₁ represents a resonance frequency (hereinafter, referredto as a first resonance frequency) around the first axis a₁ of themirror portion 20. f₂ represents a resonance frequency (hereinafter,referred to as a second resonance frequency) around the second axis a₂of the mirror portion 20. The first resonance frequency f₁ is aresonance frequency in a case where the mirror portion 20 swings onlyaround the first axis a₁ without swinging around the second axis a₂. Thesecond resonance frequency f₂ is a resonance frequency in a case wherethe mirror portion 20 swings only around the second axis a₂ withoutswinging around the first axis a₁.

A plurality of resonance modes exist for the swing of the mirror portion20 in addition to the phase (in-phase or anti-phase) with the movableportion described above. For example, the first resonance frequency f₁and the second resonance frequency f₂ are in an anti-phase and areresonance frequencies in the lowest order (that is, the lowestfrequency) resonance mode.

The closer the driving frequency f_(d) is to the first resonancefrequency f₁, the larger the first deflection angle θ₁ is. In addition,the closer the driving frequency f_(d) is to the second resonancefrequency f₂, the larger the second deflection angle θ₂ is. Therefore,in general, by matching the first resonance frequency f₁ with the secondresonance frequency f₂ and matching the driving frequency f_(d) with thefirst resonance frequency f₁ and the second resonance frequency f₂, theresponsiveness of the deflection angle to the driving signal isimproved. The first resonance frequency f₁ and the second resonancefrequency f₂ can be set by adjusting an inertial moment, a springconstant, and the like of the components of the MMD 2 in terms ofdesign.

However, in a case where the first resonance frequency f₁ is matchedwith the second resonance frequency f₂, it is considered that there isan adverse effect that the crosstalk increases. The crosstalk is causedby the fact that propagation of vibration generated in one of the firstactuator 21 and the second actuator 22 to the other excites resonancevibration. In a case where the first resonance frequency f₁ is matchedwith the second resonance frequency f₂, an influence of the crosstalk isgreatly exerted, particularly in a case where the maximum deflectionangle θ_(m) of the mirror portion 20 is small, that is, in a case wherethe driving signal is small.

In the MMD 2 of the present embodiment, the first actuator 21 allows themirror portion 20 to swing around the first axis a₁ and the secondactuator 22 allows the first actuator 21 to swing around the second axisa₂ together with the mirror portion 20. In this way, in a case where themirror portion 20 is allowed to swing around the second axis a₂, thefirst actuator 21 also swings around the second axis a₂, so that avibration component around the second axis a₂ propagates to the firstaxis a₁, which affects a change in voltage characteristics of the firstactuator 21 and the first resonance frequency f₁. The present applicantconfirmed that the first resonance frequency f₁ shifts in a case wherethe mirror portion 20 swings around the first axis a₁ and around thesecond axis a₂ simultaneously. Hereinafter, this shift amount will bedenoted by Δf.

In order to avoid the crosstalk, it is preferable that the firstresonance frequency f₁ is not matched with the second resonancefrequency f₂. In addition, a magnitude relationship between the firstresonance frequency f₁ and the second resonance frequency f₂ needs to bedetermined in consideration of the shift amount Δf. This is because theshift amount Δf changes depending on a magnitude of the maximumdeflection angle θ_(m) of the mirror portion 20.

FIG. 13 shows an example of a measurement result of a change in theshift amount Δf with respect to the maximum deflection angle θ_(m) ofthe mirror portion 20. The present applicant measured the shift amountΔf of the first resonance frequency f₁ with respect to the maximumdeflection angle θ_(m) in a case where the surface to be scanned 5 wasscanned with the light beam L such that a positive circle is drawn onthe surface to be scanned 5 by causing the mirror portion 20 to performprecession. A size of the circle scanned on the surface to be scanned 5is proportional to the maximum deflection angle θ_(m).

As shown in FIG. 13 , it was confirmed that the shift amount Δf of thefirst resonance frequency f₁ increased as the maximum deflection angleθ_(m) increased. Here, the shift amount Δf was a positive value (thatis, Δf>0). Therefore, even in a case where f₁≠f₂, the shifted firstresonance frequency f₁-Δf may be matched with the second resonancefrequency f₂ because of a change in the shift amount Δf with a change inthe maximum deflection angle θ_(m). In a case where the shifted firstresonance frequency f₁-Δf is matched with the second resonance frequencyf₂, the crosstalk may occur.

For example, in a case where a relationship of f₁>f₂ is satisfied,f₁-Δf=f₂ and the crosstalk occurs because of the change in the shiftamount Δf with the change of the maximum deflection angle θ_(m). On theother hand, in a case where a relationship of f₁<f₂ is satisfied, arelationship of f₁-Δf<f₂ is always be satisfied instead of f₁-Δf=f₂,even though the shift amount Δf changes with the change of the maximumdeflection angle θ_(m).

From the above, the present applicant found that the crosstalk isreduced by setting the driving frequency f_(d) so as to satisfy arelationship of f₁<f₂ and a relationship of f₁-Δf<f_(d).

For example, in a case where the optical scanning device 10 is appliedto the LiDAR device, a radius of a circle scanned on the surface to bescanned 5 by the light beam L (hereinafter, referred to as a scanningradius) is controlled. This scanning radius corresponds to the maximumdeflection angle θ_(m) of the mirror portion 20. The first maximumdeflection angle θ_(m1) depends on the amplitude voltage V₁ of the firstdriving signal. The second maximum deflection angle θ_(m2) depends onthe amplitude voltage V₂ of the second driving signal. Therefore, inorder to control the scanning radius by the driving controller 4, it ispreferable that a relationship between the first maximum deflectionangle θ_(m1) and the amplitude voltage V₁ and a relationship between thesecond maximum deflection angle θ_(m2) and the amplitude voltage V₂ areeach represented by a single function.

FIG. 14 shows an example in which the relationship between the firstmaximum deflection angle θ_(m1) and the amplitude voltage V₁ isrepresented by a logarithmic function, and the relationship between thesecond maximum deflection angle θ_(m2) and the amplitude voltage V₂ isrepresented by a linear function. In this case, in order to determinethe amplitude voltages V₁ and V₂ satisfying θ_(m1)=θ_(m2), the amplitudevoltage V₁ need only be determined based on a logarithmic function, andthe amplitude voltage V₂ need only be determined based on a linearfunction.

In a case where the above-described crosstalk occurs, the relationshipbetween the first maximum deflection angle θ_(m1) and the amplitudevoltage V₁ is disturbed in a region where the maximum deflection angleθ_(m) of the mirror portion 20 is small, and the driving control becomesdifficult. The present applicant confirmed that, in a case wheref₁-Δf<f_(d) is satisfied, the relationship between the first maximumdeflection angle θ_(m1) and the amplitude voltage V₁ is represented by asingle function even in a region where the maximum deflection angleθ_(m) of the mirror portion 20 is small, and that the drive control ofthe MMD 2 becomes easy.

The measurement results of the maximum deflection angle θ_(m) of themirror portion 20 and the amplitude voltages V₁ and V₂ are shown below.The present applicant measured the maximum deflection angle θ_(m) foreach of the following four cases: a case where the driving frequencyf_(d) is set in a range of f_(d)<f₁-Δf; a case where the drivingfrequency f_(d) is set in a range of f₁-Δf<f_(d)<f₁; a case where thedriving frequency f_(d) is set in a range of f₁<f_(d)<f₂; and a casewhere the driving frequency f_(d) is set in a range of f₂<f_(d).

Specifically, the present applicant measured a relationship between theamplitude voltages V₁ and V₂ with respect to the radius of the circle(scanning radius) in a case where the surface to be scanned 5 wasscanned with the light beam L such that a positive circle is drawn onthe surface to be scanned 5 by causing the mirror portion 20 to performprecession. The surface to be scanned 5 was provided with gradations atintervals of 1 mm, and the maximum deflection angle θ_(m) was measuredbased on a measured value of a shape and size of the circle using thegradations. The MMD 2 used in this measurement has f₁=1228 Hz andf₂=1237 Hz, and satisfies the relationship of f₁<f₂.

FIG. 15 shows a measurement result of the maximum deflection angle θ_(m)in a case where the driving frequency f_(d) is set in a range off_(d)<f₁-Δf. In FIG. 15 , a relationship between the first maximumdeflection angle θ_(m1) and the amplitude voltage V₁ is different ineach region of a first region of 0≤V₁<3 V, a second region of 3 V≤V₁<4.2V, and a third region of 4.2 V≤V₁<9.2 V. The first region has arelationship of θ_(m1)=0.8 V₁, the second region has a relationship ofθ_(m1)=3.0 V₁, and the third region has a relationship of θ_(m1)=0.2 V₁.In this way, in a case where f_(d)<f₁-Δf, the voltage characteristicsdiffer for each region, and the relationship between the first maximumdeflection angle θ_(m1) and the amplitude voltage V₁ cannot berepresented by a single function, so that the drive control of the MMD 2is difficult.

FIG. 16 shows a measurement result of the maximum deflection angle θ_(m)in a case where the driving frequency f_(d) is set in a range off₁-Δf<f_(d)<f₁. In FIG. 16 , the first maximum deflection angle θ_(m1)and the amplitude voltage V₁ have a relationship of θ_(m1)=2.2 ln(V₁)+1.7 and can be represented by a single function (logarithmicfunction).

FIG. 17 shows a measurement result of the maximum deflection angle θ_(m)in a case where the driving frequency f_(d) is set in a range off₁<f_(d)<f₂. In FIG. 17 , the first maximum deflection angle θ_(m1) andthe amplitude voltage V₁ have a relationship of θ_(m1)=1.8 ln (V₁)+1.7and can be represented by a single function (logarithmic function).

FIG. 18 shows a measurement result of the maximum deflection angle θ_(m)in a case where the driving frequency f_(d) is set in a range off₂<f_(d). In FIG. 18 , the first maximum deflection angle θ_(m1) and theamplitude voltage V₁ have a relationship of θ_(m1)=2.8 ln (V₁)−2.9 andcan be represented by a single function (logarithmic function).

In any case of FIGS. 15 to 18 , the relationship between the secondmaximum deflection angle θ_(m2) and the amplitude voltage V₂ can berepresented by a single function (linear function).

As described above, in a case where f₁-Δf<f_(d) is satisfied, therelationship between the first maximum deflection angle θ_(m1) and theamplitude voltage V₁ and the relationship between the second maximumdeflection angle θ_(m2) and the amplitude voltage V₂ are represented bya single function. Since the driving controller 4 can determine theamplitude voltages V₁ and V₂ based on a single function, the drivingcontrol of the MMD 2 can be easily performed.

As described above, in a case where f₁-Δf<f_(d) is satisfied, thedriving control of the MMD 2 can be easily performed. However, in a casewhere the driving frequency f_(d) satisfies a relationship of f₂<f_(d),the responsiveness of the first maximum deflection angle θ_(m1) to theamplitude voltage V₁ is reduced. As shown in FIG. 18 , even in a casewhere V₁=50 V, the first maximum deflection angle θ_(m1) is less than10°. Therefore, in order to improve the responsiveness of the firstmaximum deflection angle θ_(m1) to the amplitude voltage V₁, it is morepreferable that the driving frequency f_(d) satisfies a relationship off₁-Δf<f_(d)<f₂. As shown in FIGS. 16 and 17 , in a case where therelationship of f₁-Δf<f_(d)<f₂ is satisfied, the first maximumdeflection angle θ_(m1) can be set to 10° or more.

As described above, the crosstalk is reduced by setting the drivingfrequency f_(d) so as to satisfy the relationship of f₁<f₂ and therelationship of f₁-Δf<f_(d)<f₂. However, in a case where the firstresonance frequency f₁ and the second resonance frequency f₂ aresignificantly different from each other, it is difficult to allow themirror portion 20 to swing around the first axis a₁ and around thesecond axis a₂ simultaneously with a single driving frequency f_(d).

Therefore, the present applicant examined an upper limit of the secondresonance frequency f₂ with respect to the first resonance frequency f₁.Specifically, the present applicant examined an upper limit of thesecond resonance frequency f₂ for allowing the first maximum deflectionangle θ_(m1) and the second maximum deflection angle θ_(m2) to reach 10°within a range of f₁<f_(d)<f₂.

FIG. 19 shows a measurement result of a relationship between the maximumdeflection angle of the mirror portion 20 and the driving frequencyf_(d). In FIG. 19 , the first maximum deflection angle θ_(m1) is themaximum value of the first deflection angle θ₁ in a case where V₁=5 Vand the mirror portion 20 is allowed to swing around the first axis a₁.The second maximum deflection angle θ_(m2) is the maximum value of thesecond deflection angle θ₂ in a case where V₂=5 V and the mirror portion20 is allowed to swing around the second axis a₂. The MMD 2 used in thismeasurement had f₁₌₁₂₂₈ Hz and f₂₌₁₂₃₇ Hz.

In FIG. 17 , the first maximum deflection angle θ_(m1) at V₁=5 V is4.8°, and the second maximum deflection angle θ_(m2) at V₂=5V is 1.8°.That is, in a case where it is possible to satisfy θ_(m1)≥4.8° andθ_(m2)≥1.8° in one-axis drive, the first maximum deflection angle θ_(m1)and the second maximum deflection angle θ_(m2) can be set to 10° or morein two-axis drive by increasing the amplitude voltages V₁ and V₂.Therefore, in FIG. 19 , the second resonance frequency f₂ in a casewhere the driving frequency f_(d1) on the high frequency side whereθ_(m1)=4.8° and the driving frequency flu on the low frequency sidewhere θ_(m2)=1.8° are equal to each other is the upper limit of thesecond resonance frequency f₂. The driving frequency f_(d1) has arelationship of f_(d1)=1.002(f₁-Δf) in consideration of the shift amountΔf. The driving frequency f_(d2) has a relationship of f_(d2)=0.9939f₂.

In a case where 1.002(f₁-Δf)=0.9939f₂ and this is modified, arelationship of f₂=1.008(f₁−Δf). Therefore, the second resonancefrequency f₂ that satisfies the relationship of f₂=1.008(f₁−Δf) is theupper limit of the second resonance frequency f₂ with respect to thefirst resonance frequency f₁. From this, it can be said that it ispreferable that the first resonance frequency f₁ and the secondresonance frequency f₂ satisfy a relationship of f₁−Δf<f₂<1.008(f₁-Δf).

The configuration of the MMD 2 shown in the above embodiment can bechanged as appropriate. For example, in the above embodiment, althoughthe first actuator 21 and the second actuator 22 have an annular shape,one or both of the first actuator 21 and the second actuator 22 may havea meander structure. In addition, it is possible to use a support memberhaving a configuration other than a torsion bar as the first supportportion 24 and the second support portion 25.

The hardware configuration of the driving controller 4 can be variouslymodified. A processing unit of the driving controller 4 may beconfigured of one processor, or may be configured of a combination oftwo or more processors of the same type or different types (for example,a combination of a plurality of field programmable gate arrays (FPGAs)and/or a combination of a CPU and an FPGA).

All documents, patent applications, and technical standards mentioned inthis specification are incorporated herein by reference to the sameextent as in a case where each document, each patent application, andeach technical standard are specifically and individually described bybeing incorporated by reference.

What is claimed is:
 1. An optical scanning device comprising: amicromirror device including a mirror portion that has a reflectingsurface for reflecting incident light, a first support portion thatswingably supports the mirror portion around a first axis located in aplane including the reflecting surface in a case where the mirrorportion is stationary, a first actuator that is connected to the mirrorportion via the first support portion and allows the mirror portion toswing around the first axis, a second support portion that swingablysupports the mirror portion around a second axis orthogonal to the firstaxis in the plane, and a second actuator that is connected to the firstactuator via the second support portion and allows the mirror portion toswing around the second axis; and a processor that causes the mirrorportion to perform precession by providing a first driving signal and asecond driving signal each having the same driving frequency to thefirst actuator and the second actuator, respectively, wherein, in themicromirror device, in a case where a resonance frequency around thefirst axis is denoted by f₁ and a resonance frequency around the secondaxis is denoted by f₂, a relationship of f₁<f₂ is satisfied, in a casewhere the mirror portion is driven around the first axis and the secondaxis simultaneously, the resonance frequency around the first axischanges by Δf from f₁, and in a case where the driving frequency isdenoted by f_(d), a relationship of f₁−Δf<f_(d) is satisfied.
 2. Theoptical scanning device according to claim 1, wherein a relationship off₁−Δf<f_(d)<f₂ is satisfied.
 3. The optical scanning device according toclaim 1, wherein a relationship of Δf>0 is satisfied.
 4. The opticalscanning device according to claim 1, wherein a relationship off₁−Δf<f₂<1.008(f₁−Δf) is satisfied.
 5. The optical scanning deviceaccording to claim 1, wherein the first actuator and the second actuatorare piezoelectric actuators each including a piezoelectric element. 6.The optical scanning device according to claim 1, wherein each of thefirst support portion and the second support portion is a torsion bar.7. The optical scanning device according to claim 1, further comprising:a light source that emits a light beam perpendicularly to the reflectingsurface in a case where the mirror portion is stationary.
 8. A method ofdriving a micromirror device including a mirror portion that has areflecting surface for reflecting incident light, a first supportportion that swingably supports the mirror portion around a first axislocated in a plane including the reflecting surface in a case where themirror portion is stationary, a first actuator that is connected to themirror portion via the first support portion and allows the mirrorportion to swing around the first axis, a second support portion thatswingably supports the mirror portion around a second axis orthogonal tothe first axis in the plane, and a second actuator that is connected tothe first actuator via the second support portion and allows the mirrorportion to swing around the second axis, wherein, in the micromirrordevice, in a case where a resonance frequency around the first axis isdenoted by f₁ and a resonance frequency around the second axis isdenoted by f₂, a relationship of f₁<f₂ is satisfied, in a case where themirror portion is driven around the first axis and the second axissimultaneously, the resonance frequency around the first axis changes byΔf from f₁, and a first driving signal and a second driving signal eachhaving a driving frequency f_(d) satisfying a relationship off₁−Δf<f_(d) are provided to the first actuator and the second actuator,respectively, to cause the mirror portion to perform precession.